Robotraconteur

This release contains bug fixes, improvements to Subscriptions, adds value lifespans to Wires, introduces the BroadcastDownsampler, and contains full API documentation for C++.

This release contains bug fixes and adds several new diagnostic features:

Changes:

* Fix FindServiceByType discovery
* Begin adding doxygen documentation
* Add IOContextThreadPool to allow for single threaded operation of C++ core library
* Add IRRServiceObject interface for service objects
* Implement extensive logging support
* Implement command line option parsing for node setup classes
* Add IntraTransport for intra-process communication (multiple nodes in same process)
* Implement "Tap" feature to allow for recording message traffic
* Implement Message Version 4 (and standards document in robotraconteur_standards repository)
* Add additional exception type codes
* Add RegisterServiceTypes and RegisterServiceTypesFromFiles in Python
* Numerous bug fixes

This release updates string handling, updates LocalTransport on Windows, and contains bug fixes.

Changes:

* Improved error messages for service definition parsers
* Improved Python and MATLAB type conversion error messages
* Add "GetStructureType" command to Python
* Fill in default values for Python structures
* Update service definition parser to match draft Service Definition standards document
* Add `extraimports` parameter to service definition response message
* Add `objectimplements" parameter to object type response message
* Refactor type packing in C++
* Add exception fields `errorsubname` and `errorparam`
* Refactor message structures to use `MessageElementNestedElementList` instead of different structures for each container type
* Improved efficiency for containers in C++
* Use `boost::string_ref` and `MessageStringPtr` instead of `std::string` for improved efficiency
* Use UNIX sockets instead of named pipes for Windows local transport
* Bug fixes

This is a bug fix release.

This is a major update from version 0.8.1 including (but not limited to) the following updates:

* First open source release!
* Reorganization of source code
* Bug fixes
* Improved service definition parsing
* "Member modifiers" including `readonly`, `writeonly`, `unreliable`, `urgent`, and `perclient`
* `using`, `constant`, `enum`, and `stdver` keywords
* Function "generators" modeled on Python generators
* `pod` and `namedarray` value types
* `cdouble`, `csingle`, and `bool` primitive values
* Peek and poke support for wires
* Improved `WireBroadcaster`, `WireUnicastReceiver`, and `PipeBroadcaster`
* Automatic thunk source generation using CMake function or NuGet package
* Improved CMake testing and install
* Asynchronous message reader/writer
* Improved network layer
* Improved node discovery
* "Subscriptions" concept
* Experimental support for USB, Bluetooth, and PCIe devices
* `ClientNodeSetup` and `ServerNodeSetup` to reduce boilerplate code
* Value types in C++ now extend `RRValue` and use boost::intrusive_ptr instead of boost::shared_ptr
* C++ type alias templates for when C++11 is available
* Distribution using PPA, PyPi, NuGet, vcpkg, and homebrew
* Updated to use boost-1.58.0 to boost-1.70.0
* Able to build as ROS package

There were breaking changes in this release:
* The format of MultiDimArrays was changed to use the new complex primitives instead of having separate `real` and `imag` fields
* The `LocalTransport` file handle locations have been moved for increased security
* The TCP node discovery has been modified to use a call and response method rather than sending discovery packets every 5 seconds. Nodes can still be detected by 0.8.1, but it will require over a minute to receive a discovery packet.